【作者】 王红星；

【导师】 陈勇；

【作者基本信息】 南京林业大学 ， 检测技术与自动化装置， 2008， 硕士

【摘要】 随着精确农业技术的不断发展,农业机器人的研究和应用越来越受到世界各国的重视,并取得了丰硕的成果。相继出现了多种农业机器人,如农产品收摘机器人、农产品分级机器人、除草机器人、施肥施药机器人等。本文研制的农田信息采集机器人工作于遥控操作模式下,操作人员通过高端控制台导航软件远程控制机器人的动作,实现对机器人的遥控导航和信息采集。并通过农田信息管理分析软件对采集的信息进行有效的管理和利用,从而实现对农业生产过程的指导。本文在结合农田环境的特殊性的基础上,简单描述了机器人车体机械部分的运动过程。详细阐述了机器人的控制系统的设计。控制系统硬件由机器人控制电路板、射频收发装置电路板以及基于无线局域网的视觉系统构成。控制系统软件部分包括高端控制台导航软件和农田信息管理分析软件。采用高速的在片系统型微控制器C8051F340作为机器人的大脑,控制机器人各部件协同工作;设计了光电转速检测与控制电路,实现对机器人直流行走电机的闭环控制;设计了车体平衡检测与调节电路以实现对机器人车体平衡调节步进电机的闭环控制;设计了功率驱动电路对直流行走电机进行PWM调压调速,并辅以PID算法程序实现对机器人车体的运动控制。射频收发装置采用MCS-51单片机作为主控制器,并设计了基于芯片FT245的USB接口电路实现与高端控制台的数据通讯。农田信息管理分析软件嵌入了Surfer等值线绘图软件的相关技术,完成了农田信息图层的绘制。制作了农田信息采集机器人车体的室内机械模型,并建立了试验系统,通过高端控制台导航软件、射频收发装置、机器人车体控制电路,远程实现对机器人车体运动的精确控制。试验表明,农田信息采集机器人运行平稳、控制精确、实时性好。该移动平台具有很强的扩展性,可根据不同应用配备不同装备,以实现不同目的。更多还原

【Abstract】 With the increasing development of Precision Agriculture technology, the studies and applications of agricultural robots, in the world, have got more emphasis from many countries with plenty of results and examples. As a result, many kinds of agricultural robots, such as agricultural products harvesting robots, agricultural products classifying robots, weeding robots, fertilizing robots etc., have been produced.In this paper, a farmland information collecting robot is developed, which works in the tele-operating mode. Operators can telecontrol the robot to navigate and collect information by operating a human-machine interface of the High-end Console Navigating Software. By effectively managing and utilizing the information collected by the Farmland Information Analyzing Software, operators can achieve the instruction of agricultural production.First of all, in view of the special feature of farmland environment, the paper simply analyses the movements of the mechanical parts of the robot, then the design of the robot control system is elaborately depicted. The hardware of the robot control system includes the mainboard of robot, a RF Transceiver and a visual system based wireless LAN. The software of the robot control system is made of the High-end Console Navigating Software and the Farmland Information Analyzing Software.C8051F340, a kind of high-speed MCU with On-chip system, was adopted as the CPU of the robot to control all parts to work together; The electro-optical rotational speed detecting and controlling circuit was designed to realize closed-loop controlling driving motors of the robot;To keep the robot balance,the balanced detecting and regulating circuit was designed to closed-loop controlling step motors;The PWM principle and PID arithmetic were used to control the robot’s moving.To test the feasibility of the design, we made an indoor mechanical model of the robot and established a test system. Through operating the High-end Console Navigating Software, RF Transceiver and the Robot Control Circuit, we can remotely realize the precise control of the robot movements. The experiments have shown that the Farmland Information Collecting Robot could run smoothly, be controlled precisely,and besides, has a good real-time nature. As a mobile platform, it is also highly extensible and on various occasions can be equipped with many different devices to achieve different purposes.更多还原